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Mobile camera distance measurement early warning method and early warning device

A technology of early warning probability and observation value, which is applied in the field of early warning devices and mobile camera ranging early warning, which can solve the problems of inflexible collision warning and inaccurate estimation of vehicle driving state, so as to improve sensitivity, strong judgment accuracy, and improve accuracy sexual effect

Pending Publication Date: 2021-12-07
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the technical problems of inaccurate vehicle driving state estimation and inflexible collision warning in the existing vehicle-mounted anti-collision system, the present invention provides a mobile camera ranging warning method and a warning device

Method used

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  • Mobile camera distance measurement early warning method and early warning device
  • Mobile camera distance measurement early warning method and early warning device
  • Mobile camera distance measurement early warning method and early warning device

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Experimental program
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Embodiment 1

[0061] see Figure 1-6 , the present embodiment provides a mobile camera ranging warning method, the method first extracts historical driving state estimation data and current driving state observation data from the storage unit and performs extended Kalman filtering to obtain the current estimated value, and based on this The initial calculation value (that is, the predicted value) at the subsequent time obtained from the estimated value. At the same time, the pixel coordinates of obstacle feature points are extracted from the vehicle video target frame. Then, the vehicle trajectory and heading angle data are substituted into the binocular vision model to calculate the geodetic coordinates of obstacles. According to the current vehicle data, calculate the vehicle safety distance. Calculate the dangerous area and collision probability of the vehicle according to the safety distance, the error prediction value of the heading angle and the obstacle position, and issue early wa...

Embodiment 2

[0103] see Figure 7 , this embodiment provides an early warning device, which can be applied to the mobile camera ranging early warning method in Embodiment 1, and specifically includes a camera unit, a control unit, a wireless communication module, a storage unit, a logic synthesis unit, and an early warning prompt module. The camera unit realizes the continuous imaging of the area directly in front of the device, the control unit realizes the control algorithm and interacts with each unit, the wireless communication module realizes the communication function between the devices, the storage unit stores the historical data of the target variable, and the logic synthesis unit realizes the driving state Calculation, video ranging calculation and driving warning probability calculation, the warning prompt module realizes prompting of warning.

[0104] The camera unit is used for continuous imaging of the range directly in front of the vehicle to obtain observation data of the v...

Embodiment 3

[0106] This embodiment provides a computer terminal, which includes a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the steps of the mobile camera ranging warning method in Embodiment 1 can be realized.

[0107] When the vehicle mobile camera ranging warning method is applied, it can be applied in the form of software, such as a program designed to run independently and installed on a computer terminal. The computer terminal can be a computer, a smart phone, a control system, and other Internet of Things devices. The vehicle moving camera ranging warning method can also be designed as an embedded running program, which is installed on a computer terminal, such as a single-chip microcomputer.

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Abstract

The invention discloses a mobile camera distance measurement early warning method and an early warning device. The method comprises the following steps: calculating a current estimation value and a subsequent moment initial calculation value; firstly segmenting an outline polygon and angular points of an obstacle, then projecting and transforming the angular points to a normalized imaging plane, then selecting two points with minimum and maximum pixel abscissas in pixel coordinates as feature points of the obstacle, and finally obtaining geodetic coordinate values of the obstacle; firstly determining the value range of the true value of the course angle of the vehicle, then determining the driving safety distance of the vehicle, and finally calculating the large-probability collision area; judging whether a point of the feature line segment falls in a large-probability collision area or not, calculating a circle center distance value, and finally calculating an early warning probability; and carrying out early warning on the vehicle according to the early warning probability. According to the method, the collision probability is predicted in combination with the large-probability collision area of the vehicle, the accurate early warning function is achieved for safe driving of the vehicle, the method can be applied to automatic driving of the vehicle for reference, the collision probability of the vehicle is reduced, calculation is accurate, sensitivity is good, and the early warning capacity is high.

Description

technical field [0001] The invention relates to an early warning method in the technical field of ranging, in particular to a mobile camera ranging early warning method, and also relates to an early warning device. Background technique [0002] At present, most vehicle-mounted anti-collision systems choose to install distance sensors in one direction or four directions. The working angle of view is small, and the opposite side frontal collision cannot be predicted and warned well, and most of them are only suitable for low-speed situations. The standard built-in binocular vision device does not rely on the historical trajectory of the vehicle, but it cannot achieve a large observation baseline due to the size of the vehicle body, and it is not suitable for situations with high real-time requirements without simplified processing. State information such as vehicle driving trajectory can be obtained by using vehicle-mounted travel recorders, etc., but the internal relationship...

Claims

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Application Information

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IPC IPC(8): B60W30/095B60W50/00B60W50/14
CPCB60W30/0953B60W30/0956B60W50/00B60W50/14B60W2050/0019B60W2050/143B60W2552/50B60W2420/403Y02T10/40
Inventor 周丽华吴帆方素平
Owner HEFEI UNIV OF TECH
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